Research On Location Algorithm And Experiment Of Transporting Robot’s Moving Chassis

With the large-scale outbreak of 2019-NCoV in China,far-reaching impact on the health of Chinese people,social stability and medical system has been brought.At the beginning of the outbreak,medical workers still used traditional wheelbarrows to transport critically ill patients,which undoubtedly brought certain risks to both doctors and patients.Design a transport robot for critically patients with good safety,comfort and autonomy,and conduct in-depth research on the high-precision positioning of the mobile chassis.Specific research contents are as follows:(1)Determine the overall design of the transport robot.On basis of clear design principles,through the analysis of the transport process.The related functions and technical indicators of the robot were determined,and the transport module,lifting module and moving module were designed respectively by using the modular design idea.The mobile module adopts the positioning and navigation scheme of four steering wheels driving mode and odometer integrating two-dimensional code information,and finally,the overall three-dimensional model diagram was established.(2)Research on high precision positioning checking algorithm of mobile chassis.The kinematics model was established by kinematics analysis of moving chassis,the motion control of the motor was calculated.Based on the analysis of the system error sources of"unequal wheel diameter"and"uncertain wheelbase",an improved UMBmark algorithm was proposed by adding lateral positioning check experiment.Finally,the kinematics and positioning algorithm were simulated and verified by MATLAB.(3)Experimental design and verification of location checking algorithm.The overall scheme of mobile chassis control system was determined,and the hardware control system and experimental software system were designed.The motion control experiment of the moving chassis and the experiment based on the improved UMBmark positioning check algorithm were completed.Finally,the positioning accuracy was improved by 97.3%,and the final positioning accuracy is improved by about 20 times.(4)Mobile chassis performance test.The mobile chassis experiment platform was builted,and high-precision measuring instruments were selected.The maximum deviation rate of longitudinal and lateral velocity tests under different speeds was 0.85%.The actual trajectory deviation of kinematic in-situ steering test is 0.73%.The maximum vibration of vibration performance test came from vertical vibration,and the acceleration was 0.854m/s~2.The positioning errors of N-type and Z-type task positioning accuracy tests are 11.369mm and 5.144mm.Which met the design requirements.